transformation.h

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#pragma once
 
#include "opencv2/opencv.hpp"
#include "sr/types.h"
 
#ifdef WIN32
#   ifdef COMPILING_DLL_SimulatedRealityCore
#     define DIMENCOSR_API __declspec(dllexport)
#   else
#     define DIMENCOSR_API __declspec(dllimport)
#   endif
#else
#   define DIMENCOSR_API
#endif
 
namespace SR {
 
class DIMENCOSR_API Transformation {
private:
    bool verifyRotation();
 
#pragma warning(push)
#pragma warning(disable: 4251)
    cv::Mat scaling;
    cv::Mat rotation;
    cv::Mat translation;
 
    //Combined for efficiency
    cv::Mat transformation;
    cv::Mat untransformation;
#pragma warning(pop)
 
public:
    Transformation(cv::Matx31d scaling, cv::Matx33d rotation, cv::Matx31d translation);
    Transformation(cv::Matx33d rotation, cv::Matx31d translation);
    Transformation();
    Transformation(const Transformation& other);
    Transformation& operator=(const Transformation& other);
 
    cv::Mat getRotation();
    cv::Mat getTranslation();
    cv::Mat getMatrix();
 
    cv::Mat apply(cv::Mat points);
    cv::Mat apply(SR_point3d* points, size_t size);
    cv::Mat reverse(cv::Mat points);
};
 
}
 
#undef DIMENCOSR_API